The Wave Variable Method for Multiple Degree of Freedom Teleoperation Systems with Time Delay. - Marc Alise; Rodney G. Roberts; Daniel W. Repperger (ICRA, 2006)

A Haptic Teleoperation Study Using Wave Variables and Scaling Matrices. - Daniel W. Repperger; Rodney G. Roberts; Marc Alise; Carl A. Moore (SMC, 2009)